Delta DVP-15MC Series, Operation Manual

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DVP-15MC Series Motion Controller Operation Manual
11-370
11
1
Name
Timing for changing to
TRUE
Timing for changing to FALSE
in the instruction
execution or the input
parameters for the
instruction are illegal.

Output Update Timing Chart
Ex ecu te
Done
Bu sy
A ct iv e
Co mma ndAbo rt
E rro r
Error I D
Ca se1 Case 2 Case 3
Case 1
：
When Execute changes from FALSE to TRUE, Busy changes to TRUE. Three cycles later,
Active changes to TRUE. When the axes group reaches the end position, Done changes to
TRUE, Busy and Active change to FALSE.
Case 2
：
When Execute changes from FALSE to TRUE and an error occurs (such as error in state
machine of the axes group), Error changes to TRUE and ErrorID shows corresponding error
codes and meanwhile Busy and Active change to FALSE. When Execute changes from TRUE
to FALSE, Error changes to FALSE.
Case 3
：
After Execute changes from TRUE to FALSE in the instruction execution, Done changes to
TRUE when the instruction execution is completed. Meantime Busy and Active change to
FALSE. One cycle later, Done changes to FALSE.

Function
DMC_MoveCircularAbsolute is used for axes to perform the circular interpolation. The firmware of V1.01
and above supports the function.

CirMode (Circular interpolation mode)
There are six CirMode modes as follows.
CirMode
value
Description
0
Draw an arc via the center on XY plane. AuxPoint[1] is the offset value of the center
on basis of the start point on X-aixs. AuxPoint[2] is the offset value of the center on
basis of the start point on Y-aixs.